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12.1.2 Setting the required parameters for speed-torque control ........................................................... 12- 4
12.1.3 Setting the required data for speed-torque control ...................................................................... 12- 5
12.1.4 Operation of speed-torque control ................................................................................................ 12- 7
12.2 Synchronous control ............................................................................................................................ 12-34
13. Control Sub Functions 13- 1 to 13-108
13.1 Outline of sub functions ....................................................................................................................... 13- 2
13.1.1 Outline of sub functions ................................................................................................................ 13- 2
13.2 Sub functions specifically for machine OPR ....................................................................................... 13- 4
13.2.1 OPR retry function ......................................................................................................................... 13- 4
13.2.2 OP shift function .......................................................................................................................... 13- 8
13.3 Functions for compensating the control .............................................................................................. 13-11
13.3.1 Backlash compensation function .................................................................................................. 13-11
13.3.2 Electronic gear function ................................................................................................................ 13-13
13.3.3 Near pass function ........................................................................................................................ 13-20
13.4 Functions to limit the control ................................................................................................................ 13-22
13.4.1 Speed limit function ....................................................................................................................... 13-22
13.4.2 Torque limit function ...................................................................................................................... 13-24
13.4.3 Software stroke limit function ........................................................................................................ 13-28
13.4.4 Hardware stroke limit function ...................................................................................................... 13-35
13.4.5 Forced stop function ...................................................................................................................... 13-39
13.5 Functions to change the control details ............................................................................................... 13-42
13.5.1 Speed change function ................................................................................................................. 13-42
13.5.2 Override function ........................................................................................................................... 13-49
13.5.3 Acceleration/deceleration time change function .......................................................................... 13-52
13.5.4 Torque change function ................................................................................................................ 13-57
13.5.5 Target position change function ................................................................................................... 13-61
13.6 Absolute position system ..................................................................................................................... 13-65
13.7 Other functions ..................................................................................................................................... 13-67
13.7.1 Step function.................................................................................................................................. 13-67
13.7.2 Skip function .................................................................................................................................. 13-72
13.7.3 M code output function .................................................................................................................. 13-75
13.7.4 Teaching function .......................................................................................................................... 13-79
13.7.5 Command in-position function ...................................................................................................... 13-85
13.7.6 Acceleration/deceleration processing function ............................................................................. 13-88
13.7.7 Pre-reading start function .............................................................................................................. 13-91
13.7.8 Deceleration start flag function .................................................................................................... 13-94
13.7.9 Stop command processing for deceleration stop function ........................................................ 13-97
13.7.10 Speed control 10 x multiplier setting for degree axis function .............................................. 13-100
13.7.11 Operation setting for incompletion of OPR function .............................................................. 13-103
13.8 Servo ON/OFF ................................................................................................................................... 13-105
13.8.1 Servo ON/OFF ............................................................................................................................ 13-105
13.8.2 Follow up function ....................................................................................................................... 13-107
14. Common Functions 14- 1 to 14-66
14.1 Outline of common functions ............................................................................................................... 14- 2
14.2 Parameter initialization function ........................................................................................................... 14- 4
14.3 Execution data backup function .......................................................................................................... 14- 6
14.4 External signal selection function ........................................................................................................ 14- 8
14.5 External I/O signal logic switching function ......................................................................................... 14-14